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All All 'Enter Axis:' 'S' 'Enter Angle in Degrees:': Function If

The document contains MATLAB code that defines functions to perform rotation and transformation matrix calculations. It takes user input for rotation/transformation angles and axes. It applies rotation and transformation matrices to example coordinate vectors and plots the results.

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verkel23
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22 views3 pages

All All 'Enter Axis:' 'S' 'Enter Angle in Degrees:': Function If

The document contains MATLAB code that defines functions to perform rotation and transformation matrix calculations. It takes user input for rotation/transformation angles and axes. It applies rotation and transformation matrices to example coordinate vectors and plots the results.

Uploaded by

verkel23
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Question 3

clc
clear all
close all
ax=input('Enter Axis :','s');
ang=input('Enter Angle in degrees :');
ang=ang*pi/180.0;
ax
ang
r=rot(ax,ang);
r
function r=rot(ax,ang)

if(ax=='x')
r(1,1)=cos(ang); r(1,2)=(-1)*sin(ang); r(1,3)=0;
r(2,1)=sin(ang); r(2,2)=cos(ang); r(2,3)=0;
r(3,1)=0; r(3,2)=0; r(3,3)=1;

elseif(ax=='y')
r(1,1)=cos(ang); r(1,2)=0; r(1,3)=sin(ang);
r(2,1)=0; r(2,2)=1; r(2,3)=0;
r(3,1)=(-1)*sin(ang); r(3,2)=0; r(3,3)=cos(ang);
else
r(1,1)=1; r(1,2)=0; r(1,3)=0;
r(2,1)=0; r(2,2)=cos(ang); r(2,3)=(-1)*sin(ang);
r(3,1)=0; r(3,2)=sin(ang); r(3,3)=cos(ang);
end
end
using program for question 1 and 2:
clc
clear all
close all

a1=[1 0 0;0 0 0;0 0 0];


a2=[0 0 0;0 1 0;0 0 0];
a3=[0 0 0;0 0 0;0 0 1];
plot3(a1,a2,a3);
hold on
t1=rot('y',30);
t2=rot('x',45);
t3=t1*t2;
fprintf('The transform for Question 1 is:');
t3
t4=rot('z',30);
t5=rot('x',45);
t6=t4*t5;
fprintf('The transform for question 2 is :');
t6
a1=a1*t3;
a2=a2*t3;a3=a3*t3;
plot3(a1,a2,a3)
function r=rot(ax,ang)
ang=ang*pi/180;
if(ax=='x')
r(1,1)=cos(ang); r(1,2)=(-1)*sin(ang); r(1,3)=0;
r(2,1)=sin(ang); r(2,2)=cos(ang); r(2,3)=0;
r(3,1)=0; r(3,2)=0; r(3,3)=1;

elseif(ax=='y')
r(1,1)=cos(ang); r(1,2)=0; r(1,3)=sin(ang);
r(2,1)=0; r(2,2)=1; r(2,3)=0;
r(3,1)=(-1)*sin(ang); r(3,2)=0; r(3,3)=cos(ang);
else
r(1,1)=1; r(1,2)=0; r(1,3)=0;
r(2,1)=0; r(2,2)=cos(ang); r(2,3)=(-1)*sin(ang);
r(3,1)=0; r(3,2)=sin(ang); r(3,3)=cos(ang);
end
end
Question 6:
clc
close all
clear all
a=input('Enter angle alpha:');
b=input('Enter angle beta:');
c=input('Enter angle gamma:');
px=input('Enter px:');
py=input('Enter py:');
pz=input('Enter pz:');
t=trans(a,b,c,px,py,pz);
fprintf('The transform is :');
t
function t=trans(a,b,c,px,py,pz)
a=a*pi/180;b=b*pi/180;c=c*pi/180;

t(1,1)=cos(a)*cos(b); t(1,2)=cos(a)*sin(b)*sin(c)-sin(a)*cos(c);
t(1,3)=cos(a)*sin(b)*cos(c)+sin(a)*sin(c);t(1,4)=px;
t(2,1)=sin(a)*cos(b); t(2,2)=sin(a)*sin(b)*sin(c)+cos(a)*cos(c);
t(2,3)=sin(a)*sin(b)*cos(c)-cos(a)*sin(c);t(2,4)=py;
t(3,1)=(-1)*sin(b); t(3,2)=cos(b)*sin(c); t(3,3)=cos(b)*cos(c);t(3,4)=pz;
t(4,1)=0;t(4,2)=0;t(4,3)=0;t(4,4)=1;
end

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